Milford is situated on the "Barrow Way" (picturesque route along the river Barrow) around 5 miles south of Carlow town, off the Kilkenny road.
It is a really nice spot with three bridges, weir and canal and is very popular with local anglers. Im not sure what kind of fish you can catch though!
Killeshin is located just outside Carlow town on the Castlecomber Road. If you drive/cycle to the top there are lovely views of the surrounding coutryside. There is a picnic area and I believe there are dancing boards there on Sundays. At the foot of the hills you will find an impressive romanesque doorway and ruins of a monastery which date back to the 5th Century.